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Paper Information

Journal:   INTERNATIONAL JOURNAL OF ENGINEERING   JUNE 2004 , Volume 17 , Number 2 (TRANSACTIONS A: BASICS); Page(s) 193 To 204.
 
Paper: 

OPTIMAL LOAD OF FIEXIBLE JOINT MOBILE ROBOTS STABILITY APPROACH

 
 
Author(s):  KORAYEM M.H., GHARIBLOU H., BASU A.
 
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Abstract: 
Optimal load of mobile robots, carrying a load with predefined motion precision, is an important consideration regarding their applications. In this paper a general formulation for finding maximum load carrying capacity of flexible joint mobile manipulators is presented. Meanwhile, overturning stability of the system and precision of the motion on the given cnd-effector trajectory are taken into account. The main constraints applied for the presented algorithm are torque capacity of actuators, limited error bound for the end-effector and overturning stability during the motion on the given trajectory. In order to verfy the effectiveness of the presented algorithm a simulation study considering a compliant joint two-link planar manipulator mounted on a differentially driven mobile base is explained in details.
 
Keyword(s): OPTIMAL LOAD, OVERTURNING STABILITY, BASE MOBILITY, JOINT ELASTICITY
 
References: 
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